ORB_SLAM2::LoopClosing Class Reference

#include "LoopClosing.h"

Public Types
typedef pair< set< KeyFrame * >, int >	ConsistentGroup
typedef map< KeyFrame *, g2o::Sim3, std::less< KeyFrame * >, Eigen::aligned_allocator< std::pair< KeyFrame *const, g2o::Sim3 > > >	KeyFrameAndPose

Public Member Functions
	LoopClosing (Map *pMap, KeyFrameDatabase *pDB, ORBVocabulary *pVoc, const bool bFixScale)
void	InsertKeyFrame (KeyFrame *pKF)
bool	isFinished ()
bool	isFinishedGBA ()
bool	isRunningGBA ()
void	RequestFinish ()
void	RequestReset ()
void	Run ()
void	RunGlobalBundleAdjustment (unsigned long nLoopKF)
void	SetLocalMapper (LocalMapping *pLocalMapper)
void	SetTracker (Tracking *pTracker)

Protected Member Functions
bool	CheckFinish ()
bool	CheckNewKeyFrames ()
bool	ComputeSim3 ()
void	CorrectLoop ()
bool	DetectLoop ()
void	ResetIfRequested ()
void	SearchAndFuse (const KeyFrameAndPose &CorrectedPosesMap)
void	SetFinish ()

Protected Attributes
bool	mbFinished
bool	mbFinishedGBA
bool	mbFinishRequested
bool	mbFixScale
bool	mbResetRequested
bool	mbRunningGBA
bool	mbStopGBA
g2o::Sim3	mg2oScw
long unsigned int	mLastLoopKFid
std::list< KeyFrame * >	mlpLoopKeyFrameQueue
std::mutex	mMutexFinish
std::mutex	mMutexGBA
std::mutex	mMutexLoopQueue
std::mutex	mMutexReset
float	mnCovisibilityConsistencyTh
bool	mnFullBAIdx
KeyFrame *	mpCurrentKF
KeyFrameDatabase *	mpKeyFrameDB
LocalMapping *	mpLocalMapper
Map *	mpMap
KeyFrame *	mpMatchedKF
ORBVocabulary *	mpORBVocabulary
std::thread *	mpThreadGBA
Tracking *	mpTracker
cv::Mat	mScw
std::vector< ConsistentGroup >	mvConsistentGroups
std::vector< KeyFrame * >	mvpCurrentConnectedKFs
std::vector< MapPoint * >	mvpCurrentMatchedPoints
std::vector< KeyFrame * >	mvpEnoughConsistentCandidates
std::vector< MapPoint * >	mvpLoopMapPoints

Member Typedef Documentation

ConsistentGroup

typedef pair<set<KeyFrame*>,int> ORB_SLAM2::LoopClosing::ConsistentGroup

KeyFrameAndPose

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>, Eigen::aligned_allocator<std::pair<KeyFrame*const, g2o::Sim3> > > ORB_SLAM2::LoopClosing::KeyFrameAndPose

Constructor & Destructor Documentation

LoopClosing()

ORB_SLAM2::LoopClosing::LoopClosing	(	Map *	pMap,
		KeyFrameDatabase *	pDB,
		ORBVocabulary *	pVoc,
		const bool	bFixScale
	)

Member Function Documentation

CheckFinish()

bool ORB_SLAM2::LoopClosing::CheckFinish ( )

protected

CheckNewKeyFrames()

bool ORB_SLAM2::LoopClosing::CheckNewKeyFrames ( )

protected

ComputeSim3()

bool ORB_SLAM2::LoopClosing::ComputeSim3 ( )

protected

CorrectLoop()

void ORB_SLAM2::LoopClosing::CorrectLoop ( )

protected

DetectLoop()

bool ORB_SLAM2::LoopClosing::DetectLoop ( )

protected

InsertKeyFrame()

void ORB_SLAM2::LoopClosing::InsertKeyFrame

(

KeyFrame *

pKF

)

isFinished()

bool ORB_SLAM2::LoopClosing::isFinished

(

)

isFinishedGBA()

bool ORB_SLAM2::LoopClosing::isFinishedGBA ( )

inline

isRunningGBA()

bool ORB_SLAM2::LoopClosing::isRunningGBA ( )

inline

RequestFinish()

void ORB_SLAM2::LoopClosing::RequestFinish

(

)

RequestReset()

void ORB_SLAM2::LoopClosing::RequestReset

(

)

ResetIfRequested()

void ORB_SLAM2::LoopClosing::ResetIfRequested ( )

protected

Run()

void ORB_SLAM2::LoopClosing::Run

(

)

RunGlobalBundleAdjustment()

void ORB_SLAM2::LoopClosing::RunGlobalBundleAdjustment

(

unsigned long

nLoopKF

)

SearchAndFuse()

void ORB_SLAM2::LoopClosing::SearchAndFuse ( const KeyFrameAndPose &  CorrectedPosesMap )

protected

SetFinish()

void ORB_SLAM2::LoopClosing::SetFinish ( )

protected

SetLocalMapper()

void ORB_SLAM2::LoopClosing::SetLocalMapper

(

LocalMapping *

pLocalMapper

)

SetTracker()

void ORB_SLAM2::LoopClosing::SetTracker

(

Tracking *

pTracker

)

Member Data Documentation

mbFinished

bool ORB_SLAM2::LoopClosing::mbFinished

protected

mbFinishedGBA

bool ORB_SLAM2::LoopClosing::mbFinishedGBA

protected

mbFinishRequested

bool ORB_SLAM2::LoopClosing::mbFinishRequested

protected

mbFixScale

bool ORB_SLAM2::LoopClosing::mbFixScale

protected

mbResetRequested

bool ORB_SLAM2::LoopClosing::mbResetRequested

protected

mbRunningGBA

bool ORB_SLAM2::LoopClosing::mbRunningGBA

protected

mbStopGBA

bool ORB_SLAM2::LoopClosing::mbStopGBA

protected

mg2oScw

g2o::Sim3 ORB_SLAM2::LoopClosing::mg2oScw

protected

mLastLoopKFid

long unsigned int ORB_SLAM2::LoopClosing::mLastLoopKFid

protected

mlpLoopKeyFrameQueue

std::list<KeyFrame*> ORB_SLAM2::LoopClosing::mlpLoopKeyFrameQueue

protected

mMutexFinish

std::mutex ORB_SLAM2::LoopClosing::mMutexFinish

protected

mMutexGBA

std::mutex ORB_SLAM2::LoopClosing::mMutexGBA

protected

mMutexLoopQueue

std::mutex ORB_SLAM2::LoopClosing::mMutexLoopQueue

protected

mMutexReset

std::mutex ORB_SLAM2::LoopClosing::mMutexReset

protected

mnCovisibilityConsistencyTh

float ORB_SLAM2::LoopClosing::mnCovisibilityConsistencyTh

protected

mnFullBAIdx

bool ORB_SLAM2::LoopClosing::mnFullBAIdx

protected

mpCurrentKF

KeyFrame* ORB_SLAM2::LoopClosing::mpCurrentKF

protected

mpKeyFrameDB

KeyFrameDatabase* ORB_SLAM2::LoopClosing::mpKeyFrameDB

protected

mpLocalMapper

LocalMapping* ORB_SLAM2::LoopClosing::mpLocalMapper

protected

mpMap

Map* ORB_SLAM2::LoopClosing::mpMap

protected

mpMatchedKF

KeyFrame* ORB_SLAM2::LoopClosing::mpMatchedKF

protected

mpORBVocabulary

ORBVocabulary* ORB_SLAM2::LoopClosing::mpORBVocabulary

protected

mpThreadGBA

std::thread* ORB_SLAM2::LoopClosing::mpThreadGBA

protected

mpTracker

Tracking* ORB_SLAM2::LoopClosing::mpTracker

protected

mScw

cv::Mat ORB_SLAM2::LoopClosing::mScw

protected

mvConsistentGroups

std::vector<ConsistentGroup> ORB_SLAM2::LoopClosing::mvConsistentGroups

protected

mvpCurrentConnectedKFs

std::vector<KeyFrame*> ORB_SLAM2::LoopClosing::mvpCurrentConnectedKFs

protected

mvpCurrentMatchedPoints

std::vector<MapPoint*> ORB_SLAM2::LoopClosing::mvpCurrentMatchedPoints

protected

mvpEnoughConsistentCandidates

std::vector<KeyFrame*> ORB_SLAM2::LoopClosing::mvpEnoughConsistentCandidates

protected

mvpLoopMapPoints

std::vector<MapPoint*> ORB_SLAM2::LoopClosing::mvpLoopMapPoints

protected

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The documentation for this class was generated from the following file:

• orbslam2/include/LoopClosing.h